A Control Law For The Insertion Of A Flexible, Cylindrical Peg Using A Robot

Jean-Pierre Merlet

doi:10.1117/12.939255

16 February 1984 A Control Law For The Insertion Of A Flexible, Cylindrical Peg Using A Robot

Jean-Pierre Merlet

Proceedings Volume 0449, Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls; (1984) https://doi.org/10.1117/12.939255
Event: 1983 Cambridge Symposium, 1983, Cambridge, United States

Abstract

This paper describes the mechanical behaviour of a flexible, cylindrical peg during it's insertion. Three cases are examined according to the displacement of the contact points. In each case, a jamming criterion is given and the state of the peg is determined using only the informations of the positionning system and the force sensor of the robot. The control law for the insertion is deduced from this analysis.

Citation Download Citation

Jean-Pierre Merlet "A Control Law For The Insertion Of A Flexible, Cylindrical Peg Using A Robot", Proc. SPIE 0449, Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls, (16 February 1984); https://doi.org/10.1117/12.939255

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